Parking space detection method and device, vehicle and storage medium

The invention relates to a parking space detection method and device, a vehicle and a storage medium. The method comprises the steps of firstly obtaining a plurality of to-be-spliced images of an environment where a vehicle is located; aligning the same target in the plurality of images to be spliced to obtain a bird's-eye view image; inputting the bird's-eye view image into a convolutional neural network model to obtain a target position and a target code of each parking space target in the bird's-eye view image; and finally, constructing a parking space based on the target spot position and the target spot code of each parking space target spot, and obtaining a parking space detection result. According to the embodiment of the invention, the same target in the plurality of to-be-spliced images is firstly aligned, so that the bird's-eye view image has no error, then the parking space is constructed based on the target spot position and the target spot code output by the convolutional neural network model, a